Projects


Polaris GEM e4 Electric Self-driving Vehicle

  • Sensor Integration
  • Sensor Calibration
  • ROS2 Software Stack Development

    • I led the integration of various sensors—including LiDAR, camera, GNSS/IMU, and 4D automotive radar—on this electric self-driving vehicle from Jan. 2024 to Mar. 2024. I also configured the sensors using their respective SDKs. This vehicle supports both ROS Noetic (ROS1) and ROS Humble (ROS2) for seamless operation.

    The ultimate goal of my work at the Center for Autonomy is to develop an autonomous driving vehicle with Level 3/4 capabilities and a corresponding software stack. I plan to begin by deploying the open-source Autoware.Auto software to the vehicle. From there, key modules such as perception, localization and mapping, planning, and control will be further developed, customized, and refined. Stay tuned for future updates!

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    Polaris GEM e4 – Pure Pursuit Path Tracker based on RTK GNSS/INS Localization

    Object Detection and Tracking with TI Automotive 4D Imaging Radar

  • Sensor Calibration
  • Raw Radar Cube Data Signal Processing

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    RC Fixed-wing Airplane Control and Vision-based Autonomous Landing

  • Embedded Control Interface Development



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